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How does knowing that God wants us to ask help us when we come to Him?
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We know that He cares for us as a loving Father cares for His children.
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We feel free to cast our burden on Him because we know that He wants to. Otherwise, prayers would be more artificial, reserved with a sense of fear to go beyond what is acceptable and offend Him. It is the beautiful relationship between God and the believers!
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For me it lets me know that He wants to know me.
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While our relationship with God should not be based on a condition, such as what He can give us, but should be relational, God delights in us coming to Him to ask for what we need. He is the supplier of all our needs, and He wants us to include Him in everything. This should make it easier to come before His throne of grace and boldly ask Him for anything. God enjoys sharing with those He loves.
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If we know we are being invited to come to Him, it takes the pressure off of asking. If we know that God enjoys hearing from us, we are more likely to approach Him.